Force-force bilateral haptic control using adaptive backstepping with tuning functions

This paper presents a design for bilateral haptic control of a surgical robot. The control architecture consists of a force-force two-channel configuration. Neural networks model both slave and environment dynamics. An adaptive Lyapunov backstepping method utilizing tuning functions provides robustness to unmodeled tissue properties and smooths the applied control force. Simulation results for a one-degree-of-freedom system with time delay verify the proposed method improves the overall performance of the system, especially during puncture and collision.